KR100407891B1 - An Adaptive Shunt Circuit for Vibration Control of Structures and Operating Method Thereof - Google Patents

Abstract

The present invention relates to an adaptive shunt circuit for the vibration suppression of a structure and a method of operating the same, in particular to actively suppress the natural frequency of the variable structure to suppress the vibration of the structure, in real time on the DSP board The estimated natural frequency relates to an adaptive shunt circuit for vibration suppression of a structure that suppresses the vibration of the structure by having an electrical center frequency suitable for the natural frequency of the structure and a method of operating the same. To this end, an adaptive shunt circuit for suppressing vibration of a structure whose frequency is changed, comprising: a converter for converting vibration energy of the structure into an electrical signal; A resonance unit for amplifying the electrical signal; A frequency varying part for varying the electrical center frequency of the resonating part by a command voltage applied from the outside; And a power supply unit supplying power to the conversion unit, the resonance unit, and the frequency variable unit.

Description

An adaptive shunt circuit for vibration control of structures and operating method thereof

The present invention relates to an adaptive shunt circuit for the vibration suppression of a structure and a method of operating the same, and more particularly, by actively coping with the natural frequency of a variable structure to suppress the vibration of the structure, DSP board The natural frequency estimated in real time is related to the adaptive shunt circuit for the vibration suppression of the structure to suppress the vibration of the structure to have an electrical center frequency suitable for the natural frequency of the structure and its operation method.

The general shunt circuit is for vibration suppression of a structure in which the natural frequency is changed, and it is expected to be used in the following fields. It can be applied to structures that require vibration suppression, such as space structures such as satellites and space stations, sporting goods such as snowboards and tennis rackets, and ultra precision machines such as other precision optical devices and semiconductor equipment.

1 is a circuit diagram illustrating a conventional passive shunt circuit, and FIG. 2 is a waveform diagram illustrating a vibration control result of the passive shunt circuit shown in FIG. 1. As shown in FIGS. 1 and 2, the conventional passive shunt circuit includes a resonator 200, a power supply 400, and a mechanical-electric converter 100 designed as two operational amplifiers OP-Amp 220. It is constructed and designed.

The mechanical-electric converter 100 not only serves to change the electrical energy of the vibration energy of the structure 10 by the capacitor 120, but also serves as a capacitor. The resonator 200, the capacitor 120, and the variable resistor 30 are connected in series to form an L-R-C circuit.

Such a conventional passive shunt circuit has been used to suppress the vibration of the structure 10, but this method causes a problem in that the performance drops sharply as the natural frequency of the structure changes (USP #). 6,102,426: Adaptive sports implement with tuned damping, USP # 6,086,490: Baseball hat, USP # 6,075,390: Broadband piezoelectric shunts for structural vibration control, USP # 5,857,694): Adaptive sports implement).

This shows the vibration control result of the passive shunt circuit in FIG. 2, and it can be observed that the vibration control performance is drastically degraded as the natural frequency decreases from FO to F1 and F2.

In addition to the conventional devices for suppressing the natural frequency of the structure,

First, there is a disadvantage in that a method of coping with a natural frequency change of a structure by varying a circuit or changing a rigidity by using a motor has a disadvantage in that power consumption and volume and weight are large (USP # 5,710,714: Electronic controller for an adaptively tuned vibration). absorber, USP # 5,920,173: Feedback enhanced adaptively tuned vibration absorber, USP # 5,695,027: Adaptively tuned vibration absorber.

Second, the method of finding the natural frequency in a single mode using the PLL circuit has the disadvantage of not finding the natural frequency in the transient response and finding the natural frequency in the multiple mode (USP # 4,566,118: Method of and apparatus for canceling). vibrations from a source of repetitive vibration).

Third, the method of changing the natural frequency by varying the water in the storage tank or by adjusting the stiffness through the motor is very cumbersome and expensive to install (USP # 5,564,537: Adaptive-passive vibration control system).

Fourth, the vibration type gyroscope using piezoelectric material can measure external angular velocity precisely, and it is used as an angular velocity sensor by applying complex circuits and algorithms, so its composition and application are different (USP # 5,576,976: Amplitude detection and automatic gain). control of a sparsely sampled sinusoid by adjustment of a notch filter, USP # 5,491,725: Tracking filter and quadrature-phase reference generator, USP # 5,487,015: Self-oscillating driver circuit for a quartz resonator of an angular rate sensor).

3A is a waveform diagram illustrating when the center frequency of the passive shunt circuit shown in FIG. 1 is changed, and FIG. 3B is a waveform diagram illustrating when the electrical attenuation ratio of the passive shunt circuit shown in FIG. 1 is changed. As shown in Figs. 3A and 3B, it can be observed that the tuning characteristics of the conventional passive shunt circuit are sensitive to performance in response to changes in natural frequency.

Through this, it can be seen that the vibration characteristics are rapidly changed when the electrical center frequency is changed. On the other hand, the theoretical overlap of the frequency response at the points S1 and T1 has been theoretically predicted, and it can be seen that indirectly indicates the accuracy of the experiment.

The present invention is to solve the above problems, an object of the present invention, by actively coping with the natural frequency of the variable structure to suppress the vibration of the structure, estimated in real time in the DSP board The natural frequency is to provide an adaptive shunt circuit for the vibration suppression of the structure to suppress the vibration of the structure by having an electrical center frequency suitable for the natural frequency of the structure and its operation method.

An adaptive shunt circuit for suppressing vibration of a structure (10) whose frequency is changed in a configuration for achieving the above object, comprising: a converter (100) for converting vibration energy of the structure (10) into an electrical signal; A resonance unit 200 for amplifying the electrical signal; A frequency variable part 300 for varying an electric center frequency of the resonator part 200 by a command voltage applied from the outside; It is achieved by the adaptive shunt circuit for vibration suppression of the structure, characterized in that it comprises a power supply unit 400 for supplying power to the conversion unit 100, the resonator 200 and the frequency variable unit 300. .

Here, the frequency variable part 300 preferably includes a plurality of resistors 340 and one IC 320.

In addition, the IC 320 is most preferably a multiplier.

In order to achieve the above object, in the method of varying the electrical center frequency of the adaptive shunt circuit for suppressing the vibration of the structure 10, the frequency is changed, the estimated frequency by estimating the frequency of the vibration occurring in the structure 10 Storing (S10); And a step (S20) of applying a command voltage to vary the electrical center frequency in synchronization with the estimated frequency.

Other objects, specific advantages and novel features of the present invention will become more apparent from the following detailed description and the preferred embodiments associated with the accompanying drawings.

1 is a circuit diagram showing a conventional passive shunt circuit;

2 is a waveform diagram showing a vibration control result of the passive shunt circuit shown in FIG. 1;

3A is a waveform diagram showing when the center frequency of the passive shunt circuit shown in FIG. 1 is changed;

3B is a waveform diagram illustrating when the electrical attenuation ratio of the passive shunt circuit shown in FIG. 1 is changed;

4A is a circuit diagram illustrating an adaptive shunt circuit for vibration suppression of a structure according to the present invention;

4B is a circuit diagram illustrating an equivalent resistance of the frequency variable part shown in FIG. 4A;

FIG. 4C is a pin connection diagram showing the IC shown in FIG. 4A; FIG.

5 is a waveform diagram showing a frequency response of an adaptive shunt circuit for vibration suppression of the structure shown in FIG. 4A;

FIG. 6 is a waveform diagram illustrating a numerical simulation result according to a command voltage of an adaptive shunt circuit for suppressing vibration of a structure shown in FIG. 4A;

7A is a waveform diagram illustrating when the electrical center frequency of the adaptive shunt circuit for the vibration suppression of the structure shown in FIG. 4A is changed;

7B is a waveform diagram illustrating when the electrical attenuation ratio of the adaptive shunt circuit for vibration suppression of the structure shown in FIG. 4A is changed;

8 is an embodiment showing an adaptive shunt circuit for suppressing vibration of a structure according to the present invention;

FIG. 9A is a waveform diagram illustrating measured signals of an adaptive shunt circuit for vibration suppression of the structure illustrated in FIG. 8;

9B is a waveform diagram illustrating an estimated signal of an adaptive shunt circuit for vibration suppression of the structure shown in FIG. 8;

FIG. 10 is a waveform diagram illustrating a vibration control result of an adaptive shunt circuit for suppressing vibration of a structure illustrated in FIG. 8;

11 is a flowchart illustrating a method of operating an adaptive shunt circuit for suppressing vibration of a structure according to the present invention.

<Description of Symbols for Main Parts of Drawings>

10: structure 20: laser displacement meter

30: variable resistance 40: computer

50: DSP board 60: laser sensor

70: frequency analyzer 80: voltmeter

90: electromagnet 100: mechanical-electric converter

120: capacitor 200: resonator

220: operational amplifier 300: frequency variable part

320: IC 340: resistance

400: power supply 900: adaptive shunt circuit

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

4A is a circuit diagram illustrating an adaptive shunt circuit for suppressing vibration of a structure according to the present invention. As shown in FIG. 4A, the vibration signal of the structure 10 is estimated in real time by an adaptive algorithm in the DSP board 50 in the computer 40, and a command voltage corresponding thereto is calculated according to the present invention. This is applied to the adaptive shunt circuit 900 to give adaptability.

Such, the present invention by actively coping with the natural frequency of the variable structure 10, the natural frequency estimated in real time in the DSP board 50 to have an electrical center frequency suitable for the natural frequency of the structure Vibration of the structure 10 can be suppressed. To this end, the present invention is largely composed of a mechanical-electric converter 100, the resonator 200, the frequency variable 300 and the power supply 400.

The mechanical-electric converter 100 not only serves to change the vibration energy of the structure 10 into an electrical signal by the capacitor 120 of the piezoelectric material, but also serves as a capacitor.

The resonator 200 is composed of two operational amplifiers (Op-Amp, 220) to amplify the electric signal converted by the converter 100 together. The electrical signal output through the conversion unit 100 is input to the operational amplifier 220 to have a very high voltage gain, a very high input impedance, and a very small output impedance.

The frequency variable part 300 is composed of one IC 320 and two resistors 340 to adjust the electrical center frequency of the resonator 200 by the command voltage of the DSP board 50 applied from the outside. Variable. Here, the IC 320 uses AD633 of JN type as a multiplier.

The power supply unit 400 supplies a positive (+) and a negative (-) DC voltage to the converter 100, the resonator 200, and the frequency variable unit 300.

As described above, the present invention is an adaptive shunt circuit 900 to cope with the natural frequency change of the structure 10, to prevent the performance is suddenly reduced as the natural frequency of the structure 10 changes will be.

In other words, the DSP board 50 estimates the natural frequency in real time as the vibration signal of the structure, and the command voltage calculated using the estimated natural frequency is applied to the adaptive shunt circuit 900 of the present invention every moment. Have an electric center frequency suitable for the natural frequency of 10).

On the other hand, the capacitor 120 which is a conversion unit attached to the structure 10 converts the vibration energy into electrical energy, and the vibration of the structure 10 is suppressed by being applied to the present invention adjusted before. Through this process, it is possible to perform adaptive vibration control while coping with a change in natural frequency of the structure.

FIG. 4B is a circuit diagram illustrating an equivalent resistance of the frequency variable part illustrated in FIG. 4A, and FIG. 4C is a pin connection diagram illustrating the IC illustrated in FIG. 4A. As shown in Figs. 4B and 4C, the IC 320 of the frequency variable unit 300 uses a JN type AD633 as a multiplier to enable a variable electric center frequency of the circuit. use.

In the present invention, when the equivalent resistance is configured using the multiplier IC 320, the command voltage Vc is applied to the apparent resistance value Req according to the externally applied voltage as the following calculated value. Is changed by).

Therefore, if an equivalent resistance whose apparent resistance is changed by the command voltage is connected to a conventional passive shunt circuit, the electrical center frequency can be changed as follows.

FIG. 5 is a waveform diagram illustrating a frequency response of an adaptive shunt circuit for suppressing vibration of the structure shown in FIG. 4A. As shown in FIG. 5, the numerical simulation results of the PSpice simulating electrical, electronic and communication circuits.

When the command voltage is changed by the frequency response of the adaptive shunt circuit 900 when the voltage is changed, the electric center frequency and electric damping ratio of the present invention are changed.

6 is a waveform diagram illustrating a result of numerical simulation according to a command voltage of an adaptive shunt circuit for suppressing vibration of a structure shown in FIG. 4A. As shown in FIG. 6, normalized equivalent resistance according to command voltage is shown as a result of numerical simulation with PSpice. Therefore, numerical simulation results show that the theoretical predictions are almost exactly the same.

7A is a waveform diagram illustrating when the electrical center frequency of the adaptive shunt circuit for vibration suppression of the structure shown in FIG. 4A is changed, and FIG. 7B is an electrical attenuation ratio of the adaptive shunt circuit for vibration suppression of the structure shown in FIG. 4A. Is a waveform diagram showing when is changed.

As shown in FIGS. 7A and 7B, the adjustment characteristics of the adaptive shunt circuit 900 for suppressing the vibration of the structure 10 are illustrated. FIGS. 7A and 7B are diagrams illustrating when the electrical center frequency and the electrical attenuation ratio are changed, respectively. Frequency response is shown.

It can be observed that the electrical center frequency and the electrical attenuation ratio changed according to the change of the command voltage as predicted through the theory and numerical simulation.

8 is an embodiment showing an adaptive shunt circuit for suppressing vibration of a structure according to the present invention. As shown in FIG. 8, after the laser sensor 60 measures the vibration signal in which the structure is vibrated and is calculated through an adaptive algorithm of the DSP board 50, a command voltage is applied to the adaptive shunt circuit 900 of the present invention. It is applied to suppress the vibration while being adapted to the change of the structure (10).

The natural frequency of the structure through the adaptive algorithm After estimating in real time, the command voltage Vc is calculated through the following equation.

At this time, Is the adjustment ratio of the natural frequency of the structure and the electrical center frequency, and the electrical center frequency is tuned to have an optimum value near 1.0.

In addition, the natural frequency is estimated in real time using the following method. The vibration signal measured by the laser sensor 60 is separated from the characteristic equation of the structure 10 by a recursive least square (RLS) method, and then the natural frequency is obtained from the characteristic equation of each mode.

When the excitation signal generated by the frequency analyzer (FFT Anlayxer) 70 is applied to the electromagnet 90 through the voltage transformer 80, the composite specimen is excited, and when the vibration signal of the composite specimen is observed by the laser displacement meter 20. In addition, the vibration suppression performance can be known by comparing with and without adaptive vibration control.

In other words, the DSP board 50 estimates the natural frequency in real time as the vibration signal of the structure, and a command voltage calculated using the estimated natural frequency is applied to the adaptive shunt circuit 900 every moment to provide the structure 10. Ensure that the electrical center frequency is correct for the natural frequency.

Accordingly, the adaptive shunt circuit 900 of the present invention can perform adaptive vibration control while coping with a change in natural frequency of the structure 10.

FIG. 9A is a waveform diagram illustrating measured signals of an adaptive shunt circuit for vibration suppression of a structure illustrated in FIG. 8, and FIG. 9B illustrates an estimated signal of an adaptive shunt circuit for vibration suppression of a structure illustrated in FIG. 8. It is a waveform diagram.

9A and 9B, the vibration signal of the structure 10 is compared with the signal estimated by the computer 40 in real time, and FIGS. 9A and 9B illustrate the case of F0 and F2, respectively. As a result, in both cases we can observe that the actual measured signal is well estimated.

FIG. 10 is a waveform diagram illustrating a vibration control result of an adaptive shunt circuit for suppressing vibration of the structure illustrated in FIG. 8. As shown in FIG. 10, an excellent vibration performance of 20 dB or more can be observed despite the change of the natural frequency as a result of vibration control using the adaptive shunt circuit 900 of the present invention.

11 is a flowchart illustrating a method of operating an adaptive shunt circuit for suppressing vibration of a structure according to the present invention. As shown in FIG. 11, the method of varying the electrical center frequency of the adaptive shunt circuit 900 for suppressing the vibration of the structure 10 in which the frequency is changed is estimated by estimating the frequency of the vibration occurring in the structure 10. The estimated frequency is stored (S10).

In addition, a command voltage [Vc] is applied to change the electrical center frequency in synchronization with the estimated frequency (S20).

In other words, the DSP board 50 estimates the natural frequency in real time as the vibration signal of the structure, and a command voltage calculated using the estimated natural frequency is applied to the adaptive shunt circuit 900 every moment to provide the structure 10. Ensure that the electrical center frequency is correct for the natural frequency. Therefore, the present invention can perform adaptive vibration control while coping with a change in natural frequency of the structure 10.

As described above, according to the adaptive shunt circuit for the vibration suppression of the structure according to the present invention and its operation method, in order to suppress the vibration of the structure in which the natural frequency is changed, the characteristics of the circuit are changed in accordance with the change of the natural frequency. Vibration can be suppressed.

Such an adaptive shunt circuit for vibration suppression of a structure and a method of operating the same according to the present invention have an electric center frequency corresponding to a natural frequency of a structure in accordance with a natural frequency of a DSP board in real time.

Therefore, an effect of performing adaptive vibration control can be obtained while coping with a change in natural frequency of the structure.

Although the invention has been described in connection with the preferred embodiments mentioned above, other various modifications and variations may be made without departing from the spirit and scope of the invention. Accordingly, it is intended that the appended claims cover such modifications and variations as fall within the true scope of the invention.

Claims (4)

In the adaptive shunt circuit for suppressing the vibration of the structure 10 of the frequency change, A conversion unit (100) for converting vibration energy of the structure (10) into an electrical signal; A resonance unit 200 for amplifying the electrical signal; A frequency variable part 300 for varying an electric center frequency of the resonator part 200 by a command voltage applied from the outside; Adaptive shunt circuit for vibration suppression of the structure, characterized in that it comprises a power supply unit 400 for supplying power to the conversion unit (100), the resonator unit (200) and the frequency variable unit (300). 2. The adaptive shunt circuit for vibration suppression of a structure according to claim 1, wherein the frequency variable part (300) comprises a plurality of resistors (340) and one IC (320). 3. The adaptive shunt circuit for vibration suppression of a structure according to claim 2, wherein said IC (320) is a multiplier. In the method of varying the electrical center frequency of the adaptive shunt circuit for suppressing the vibration of the structure 10 of the frequency change, Estimating the frequency of the vibration occurring in the structure (10) and storing the estimated frequency (S10); And applying a command voltage to change the electrical center frequency in synchronization with the estimated frequency (S20).